Pivot (Arm) Subsystem Functional Specification

Core Pivot Functionality

  • Absolute encoder to track arm position. Seed absolute encoder to the motors relative encoder (at the least on startup).

  • Motor(s) to drive the arm pivot.

    • Configure (idle mode, current limits).

    • Configure gear ratio.

  • Limit switches. HW limits, SW limits (Encoder position, Min / Max setpoint value).

  • Speed controls:

    • Set-points. Via tunable PID. (Rotations at a minimum ideally real units).

    • Manual operation.

  • Pass constants object into constructor.

  • Logging via AdvantageKit.

  • Method to check if arm is at a setpoint. onTarget.

Bonus Pivot Functions

Easy Bonus

  • Support for single or dual motors.

  • Motion Profiling (CTRE/Phoenix6 Motion Magic). MaxVelocity & MaxAcceleration.

  • PID basic control. SVA (Static Friction, Velocity, Acceleration) or GVA (Gravity, Velocity, Acceleration) FeedForward Control Loop

  • Optional HW limits. Enable / Disable this functionality.

    • Redundant limit switches (2 on top, 2 on bottom).

  • Switch from Brake to Coast on disable and vise versa.

Hard Bonus

  • Java Units Classes (Distance, Angle, Velocity, Etc.).

  • Simulation of subsystem.

  • Integration with SysID. Characterizes motor performance.